Rigidity of distance-based formations with additional subtended-angle constraints

  title={Rigidity of distance-based formations with additional subtended-angle constraints},
  author={Myoung-Chul Park and Hong-Kyong Kim and Hyo-Sung Ahn},
  journal={2017 17th International Conference on Control, Automation and Systems (ICCAS)},
In this paper, we propose a new concept of rigidity, named weak rigidity, using distance and subtended-angle constraints. The classical rigidity of formation is used in the field of distance-based formation control as a fundamental tool to guarantee a locally unique formation shape with given inter-agent distances. We assume that there are some angle constraints in addition to the existing distance constraints. Then the formation could result in a rigid formation shape even if it is not rigid… CONTINUE READING

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The rigidity of graphs, II

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